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RESEARCH PAPERS

The RAPT Control Method for Nonlinear Systems

[+] Author and Article Information
T. W. Long, C. K. Carrington

Department of Mechanical Engineering, University of South Carolina, Columbia, SC 28208

J. Dyn. Sys., Meas., Control 113(4), 736-741 (Dec 01, 1991) (6 pages) doi:10.1115/1.2896483 History: Received October 01, 1988; Online March 17, 2008

Abstract

The Rapid Advancement Preview Tracking (RAPT) control method uses both a nonlinear system model and a linearized system model to provide a form of feedback/preview control for nonlinear systems. It uses measurements of the states to calculate the current preview control signal from a local linearization of the state equations, and then iteratively calculates a perturbation correction for that control using the nonlinear equations. The corrected control signal is then applied to the system, driving the end-effector to the next position along a specified trajectory. Computer simulations of tracking control for two-link planar manipulators indicate that this algorithm may be fast enough for real-time control.

Copyright © 1991 by The American Society of Mechanical Engineers
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